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The only car on the market that is sold with an even halfway decent audio system is the Lexus LS500 with Mark Levinson. My friend is the person who tunes that stereo for Mark Levinson, and he is one of the best car audio tuners on the planet. He even uses the ML processor from the LS500 in his personal car for sound quality audio competition, and he is one of the most decorated competitors in the game. That's a serious statement for how good that processor is, because the aftermarket processors available these days are incredible.
The factory stereo options in most other cars are mediocre at best. Aftermarket is the only way to achieve really good audio performance. Unfortunately, BMW has some of the worst factory speaker sizes and locations in the auto industry. Midbass are under the seats, terrible. Midranges are mounted to the door cards not to the door frame. The distance between the midranges and the tweeters are too far apart for proper crossover. It's just a mess and the only way to fix it properly is to go with a full custom install with custom-fabricated speaker enclosures to move the drivers to better locations. That means a lot of money and time and modification to the interior.
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